#include <lifecyclenode_client.hpp>

Inheritance diagram for cl_lifecyclenode::ClLifecycleNode:

Collaboration diagram for cl_lifecyclenode::ClLifecycleNode:

Public Member Functions
	ClLifecycleNode (std::string nodeName)

virtual	~ClLifecycleNode ()

void	onInitialize () override

void	changeState (uint8_t state)

void	configure ()

void	activate ()

void	deactivate ()

void	cleanup ()

void	shutdown ()

void	destroy ()

virtual void	onTransitionEvent (const lifecycle_msgs::msg::TransitionEvent::SharedPtr msg)

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()

virtual	~ISmaccClient ()

virtual void	onInitialize ()

virtual std::string	getName () const

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

template<typename TComponent >
TComponent *	getComponent (int index)

virtual smacc2::introspection::TypeInfo::Ptr	getType ()

ISmaccStateMachine *	getStateMachine ()

template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::callback)(), T object)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

Public Attributes
boost::signals2::signal< void(const lifecycle_msgs::msg::TransitionEvent::SharedPtr)>	onTransitionEventSignal

boost::signals2::signal< void()>	onTransitionCreate_

boost::signals2::signal< void()>	onTransitionConfigure_

boost::signals2::signal< void()>	onTransitionCleanup_

boost::signals2::signal< void()>	onTransitionActivate_

boost::signals2::signal< void()>	onTransitionDeactivate_

boost::signals2::signal< void()>	onTransitionUnconfiguredShutdown_

boost::signals2::signal< void()>	onTransitionInactiveShutdown_

boost::signals2::signal< void()>	onTransitionActiveShutdown_

boost::signals2::signal< void()>	onTransitionDestroy_

boost::signals2::signal< void()>	onTransitionOnConfigureSuccess_

boost::signals2::signal< void()>	onTransitionOnConfigureFailure_

boost::signals2::signal< void()>	onTransitionOnConfigureError_

boost::signals2::signal< void()>	onTransitionOnActivateSuccess_

boost::signals2::signal< void()>	onTransitionOnActivateFailure_

boost::signals2::signal< void()>	onTransitionOnActivateError_

boost::signals2::signal< void()>	onTransitionOnDeactivateSuccess_

boost::signals2::signal< void()>	onTransitionOnDeactivateFailure_

boost::signals2::signal< void()>	onTransitionOnDeactivateError_

boost::signals2::signal< void()>	onTransitionOnCleanupSuccess_

boost::signals2::signal< void()>	onTransitionOnCleanupFailure_

boost::signals2::signal< void()>	onTransitionOnCleanupError_

boost::signals2::signal< void()>	onTransitionOnShutdownSuccess_

boost::signals2::signal< void()>	onTransitionOnShutdownFailure_

boost::signals2::signal< void()>	onTransitionOnShutdownError_

boost::signals2::signal< void()>	onTransitionOnActiveShutdownSuccess_

boost::signals2::signal< void()>	onTransitionOnActiveShutdownFailure_

boost::signals2::signal< void()>	onTransitionOnActiveShutdownError_

boost::signals2::signal< void()>	onTransitionOnErrorSuccess_

boost::signals2::signal< void()>	onTransitionOnErrorFailure_

boost::signals2::signal< void()>	onTransitionOnErrorError_

Private Attributes
rclcpp::Client< lifecycle_msgs::srv::GetState >::SharedPtr	client_get_state_

rclcpp::Client< lifecycle_msgs::srv::ChangeState >::SharedPtr	client_change_state_

rclcpp::Subscription< lifecycle_msgs::msg::TransitionEvent >::SharedPtr	subscription_transition_event_

std::string	nodeName_

const std::string	node_get_state_topic = "/get_state"

const std::string	node_change_state_topic = "/change_state"

const std::string	node_transition_event_topic = "/transition_event"

lifecycle_msgs::msg::TransitionEvent::SharedPtr	lastTransitionEvent_

std::function< void()>	postOnTransitionCreate_

std::function< void()>	postOnTransitionConfigure_

std::function< void()>	postOnTransitionCleanup_

std::function< void()>	postOnTransitionActivate_

std::function< void()>	postOnTransitionDeactivate_

std::function< void()>	postOnTransitionUnconfiguredShutdown_

std::function< void()>	postOnTransitionInactiveShutdown_

std::function< void()>	postOnTransitionActiveShutdown_

std::function< void()>	postOnTransitionDestroy_

std::function< void()>	postOnTransitionOnConfigureSuccess_

std::function< void()>	postOnTransitionOnConfigureFailure_

std::function< void()>	postOnTransitionOnConfigureError_

std::function< void()>	postOnTransitionOnActivateSuccess_

std::function< void()>	postOnTransitionOnActivateFailure_

std::function< void()>	postOnTransitionOnActivateError_

std::function< void()>	postOnTransitionOnDeactivateSuccess_

std::function< void()>	postOnTransitionOnDeactivateFailure_

std::function< void()>	postOnTransitionOnDeactivateError_

std::function< void()>	postOnTransitionOnCleanupSuccess_

std::function< void()>	postOnTransitionOnCleanupFailure_

std::function< void()>	postOnTransitionOnCleanupError_

std::function< void()>	postOnTransitionOnShutdownSuccess_

std::function< void()>	postOnTransitionOnShutdownFailure_

std::function< void()>	postOnTransitionOnShutdownError_

std::function< void()>	postOnTransitionOnErrorSuccess_

std::function< void()>	postOnTransitionOnErrorFailure_

std::function< void()>	postOnTransitionOnErrorError_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger ()

Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Detailed Description

Definition at line 192 of file lifecyclenode_client.hpp.

Constructor & Destructor Documentation

◆ ClLifecycleNode()

cl_lifecyclenode::ClLifecycleNode::ClLifecycleNode ( std::string nodeName )

Definition at line 25 of file lifecyclenode_client.cpp.

25: nodeName_(node_name) {}

cl_lifecyclenode::ClLifecycleNode::nodeName_

std::string nodeName_

Definition: lifecyclenode_client.hpp:444

◆ ~ClLifecycleNode()

cl_lifecyclenode::ClLifecycleNode::~ClLifecycleNode ( )

virtual

Definition at line 27 of file lifecyclenode_client.cpp.

27{}

Member Function Documentation

◆ activate()

void cl_lifecyclenode::ClLifecycleNode::activate ( )

Definition at line 50 of file lifecyclenode_client.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
}

References changeState().

Referenced by cl_lifecyclenode::CbActivate::onEntry().

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◆ changeState()

void cl_lifecyclenode::ClLifecycleNode::changeState ( uint8_t state )

Definition at line 42 of file lifecyclenode_client.cpp.

{
  auto request = std::make_shared<lifecycle_msgs::srv::ChangeState::Request>();
  request->transition.id = state;
  auto future = client_change_state_->async_send_request(request);
  future.wait();
}

References client_change_state_.

Referenced by activate(), cleanup(), configure(), deactivate(), and shutdown().

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◆ cleanup()

void cl_lifecyclenode::ClLifecycleNode::cleanup ( )

Definition at line 65 of file lifecyclenode_client.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP);
}

References changeState().

Referenced by cl_lifecyclenode::CbCleanup::onEntry().

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◆ configure()

void cl_lifecyclenode::ClLifecycleNode::configure ( )

Definition at line 60 of file lifecyclenode_client.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
}

References changeState().

Referenced by cl_lifecyclenode::CbConfigure::onEntry().

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◆ deactivate()

void cl_lifecyclenode::ClLifecycleNode::deactivate ( )

Definition at line 55 of file lifecyclenode_client.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE);
}

References changeState().

Referenced by cl_lifecyclenode::CbDeactivate::onEntry().

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◆ destroy()

void cl_lifecyclenode::ClLifecycleNode::destroy ( )

Referenced by cl_lifecyclenode::CbDestroy::onEntry().

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◆ onInitialize()

void cl_lifecyclenode::ClLifecycleNode::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 29 of file lifecyclenode_client.cpp.

{
  client_get_state_ = this->getNode()->create_client<lifecycle_msgs::srv::GetState>(
    this->nodeName_ + node_get_state_topic);
  client_change_state_ = this->getNode()->create_client<lifecycle_msgs::srv::ChangeState>(
    this->nodeName_ + node_change_state_topic);
 
  this->subscription_transition_event_ =
    this->getNode() /*  */->create_subscription<lifecycle_msgs::msg::TransitionEvent>(
      this->nodeName_ + node_transition_event_topic, 100,
      std::bind(&ClLifecycleNode::onTransitionEvent, this, std::placeholders::_1));
}

References client_change_state_, client_get_state_, smacc2::ISmaccClient::getNode(), node_change_state_topic, node_get_state_topic, node_transition_event_topic, nodeName_, onTransitionEvent(), and subscription_transition_event_.

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◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_lifecyclenode::ClLifecycleNode::onOrthogonalAllocation ( )

inline

Definition at line 269 of file lifecyclenode_client.hpp.

  {
    this->postOnTransitionCreate_ = [=]()
    {
      RCLCPP_INFO(this->getLogger(), "postOnTransitionCreate_");
      this->onTransitionCreate_();
      sc::event<EvTransitionCreate<TSourceObject, TOrthogonal>> * ev =
        new EvTransitionCreate<TSourceObject, TOrthogonal>();
      this->postEvent(ev);
    };
 
    this->postOnTransitionConfigure_ = [=]()
    {
      this->onTransitionConfigure_();
      this->postEvent<EvTransitionConfigure<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionActivate_ = [=]()
    {
      this->onTransitionActivate_();
      this->postEvent<EvTransitionActivate<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionDeactivate_ = [=]()
    {
      this->onTransitionDeactivate_();
      this->postEvent<EvTransitionDeactivate<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionUnconfiguredShutdown_ = [=]()
    {
      this->onTransitionUnconfiguredShutdown_();
      this->postEvent<EvTransitionUnconfiguredShutdown<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionInactiveShutdown_ = [=]()
    {
      this->onTransitionInactiveShutdown_();
      this->postEvent<EvTransitionInactiveShutdown<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionActiveShutdown_ = [=]()
    {
      this->onTransitionActiveShutdown_();
      this->postEvent<EvTransitionActiveShutdown<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionDestroy_ = [=]()
    {
      this->onTransitionDestroy_();
      this->postEvent<EvTransitionDestroy<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnConfigureSuccess_ = [=]()
    {
      this->onTransitionOnConfigureSuccess_();
      this->postEvent<EvTransitionOnConfigureSuccess<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnConfigureFailure_ = [=]()
    {
      this->onTransitionOnConfigureFailure_();
      this->postEvent<EvTransitionOnConfigureFailure<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnConfigureError_ = [=]()
    {
      this->onTransitionOnConfigureError_();
      this->postEvent<EvTransitionOnConfigureError<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnActivateSuccess_ = [=]()
    {
      this->onTransitionOnActivateSuccess_();
      this->postEvent<EvTransitionOnActivateSuccess<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnActivateFailure_ = [=]()
    {
      this->onTransitionOnActivateFailure_();
      this->postEvent<EvTransitionOnActivateFailure<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnActivateError_ = [=]()
    {
      this->onTransitionOnActivateError_();
      this->postEvent<EvTransitionOnActivateError<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnDeactivateSuccess_ = [=]()
    {
      this->onTransitionOnDeactivateSuccess_();
      this->postEvent<EvTransitionOnDeactivateSuccess<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnDeactivateFailure_ = [=]()
    {
      this->onTransitionOnDeactivateFailure_();
      this->postEvent<EvTransitionOnDeactivateFailure<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnDeactivateError_ = [=]()
    {
      this->onTransitionOnDeactivateError_();
      this->postEvent<EvTransitionOnDeactivateError<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionCleanup_ = [=]()
    {
      this->onTransitionCleanup_();
      this->postEvent<EvTransitionCleanup<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnCleanupSuccess_ = [=]()
    {
      this->onTransitionOnCleanupSuccess_();
      this->postEvent<EvTransitionOnCleanupSuccess<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnCleanupFailure_ = [=]()
    {
      this->onTransitionOnCleanupFailure_();
      this->postEvent<EvTransitionOnCleanupFailure<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnCleanupError_ = [=]()
    {
      this->onTransitionOnCleanupError_();
      this->postEvent<EvTransitionOnCleanupError<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnShutdownSuccess_ = [=]()
    {
      this->onTransitionOnShutdownSuccess_();
      this->postEvent<EvTransitionOnShutdownSuccess<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnShutdownFailure_ = [=]()
    {
      this->onTransitionOnShutdownFailure_();
      this->postEvent<EvTransitionOnShutdownFailure<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnShutdownError_ = [=]()
    {
      this->onTransitionOnShutdownError_();
      this->postEvent<EvTransitionOnShutdownError<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnErrorSuccess_ = [=]()
    {
      this->onTransitionOnErrorSuccess_();
      this->postEvent<EvTransitionOnErrorSuccess<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnErrorFailure_ = [=]()
    {
      this->onTransitionOnErrorFailure_();
      this->postEvent<EvTransitionOnErrorFailure<TSourceObject, TOrthogonal>>();
    };
 
    this->postOnTransitionOnErrorError_ = [=]()
    {
      this->onTransitionOnErrorError_();
      this->postEvent<EvTransitionOnErrorError<TSourceObject, TOrthogonal>>();
    };
  }

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◆ onTransitionEvent()

void cl_lifecyclenode::ClLifecycleNode::onTransitionEvent ( const lifecycle_msgs::msg::TransitionEvent::SharedPtr msg )

virtual

Definition at line 75 of file lifecyclenode_client.cpp.

{
  RCLCPP_INFO(
    this->getNode()->get_logger(), "[ClLifecycleNode] Transition event received: %d -> %d",
    msg->start_state.id, msg->goal_state.id);
 
  lastTransitionEvent_ = msg;
  // switch (msg->transition.id)
  // {
  // case lifecycle_msgs::msg::Transition::TRANSITION_CREATE:
  // if (msg->start_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN &&
  //     msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
  // {
  //   RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_CREATE");
  //   this->postOnTransitionCreate_();
  // }
  // // case lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE:
  // else
  if (
    msg->start_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_CONFIGURING)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_CONFIGURE");
    this->postOnTransitionConfigure_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_CLEANINGUP)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_CLEANUP");
    this->postOnTransitionCleanup_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ACTIVATING)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ACTIVATE");
    this->postOnTransitionActivate_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_DEACTIVATING)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_DEACTIVATE");
    this->postOnTransitionDeactivate_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_UNCONFIGURED_SHUTDOWN:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_UNCONFIGURED_SHUTDOWN");
    this->postOnTransitionUnconfiguredShutdown_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_INACTIVE_SHUTDOWN:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_INACTIVE_SHUTDOWN");
    this->postOnTransitionInactiveShutdown_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ACTIVE_SHUTDOWN:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ACTIVE_SHUTDOWN");
    this->postOnTransitionActiveShutdown_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_DESTROY:
  else if (msg->start_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
  // &&msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_DESTROYING
 
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_DESTROY");
    this->postOnTransitionDestroy_();
  }
 
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_CONFIGURE_SUCCESS:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_CONFIGURING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_CONFIGURE_SUCCESS");
    this->postOnTransitionOnConfigureSuccess_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_CONFIGURE_FAILURE:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_CONFIGURING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_CONFIGURE_FAILURE");
    this->postOnTransitionOnConfigureFailure_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_CONFIGURE_ERROR:
  if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_CONFIGURING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_CONFIGURE_ERROR");
    this->postOnTransitionOnConfigureError_();
  }
 
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_CLEANUP_SUCCESS:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_CLEANINGUP &&
    msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_CLEANUP_SUCCESS");
    this->postOnTransitionOnCleanupSuccess_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_CLEANUP_FAILURE:
  // else if (msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_CLEANINGUP
  // &&msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING)
  // {
  //   RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_CLEANUP_FAILURE");
  //   this->postOnTransitionOnCleanupFailure_();
  // }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_CLEANUP_ERROR:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_CLEANINGUP &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_CLEANUP_ERROR");
    this->postOnTransitionOnCleanupError_();
  }
 
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_ACTIVATE_SUCCESS:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ACTIVATING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_ACTIVATE_SUCCESS");
    this->postOnTransitionOnActivateSuccess_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_ACTIVATE_FAILURE:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ACTIVATING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_ACTIVATE_FAILURE");
    this->postOnTransitionOnActivateFailure_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_ACTIVATE_ERROR:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ACTIVATING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_ACTIVATE_ERROR");
    this->postOnTransitionOnActivateError_();
  }
 
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_DEACTIVATE_SUCCESS:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_DEACTIVATING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_DEACTIVATE_SUCCESS");
    this->postOnTransitionOnDeactivateSuccess_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_DEACTIVATE_FAILURE:
  // else if (msg->start_state.id == &&msg->goal_state.id ==)
  // {
  //   RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_DEACTIVATE_FAILURE");
  //   this->postOnTransitionOnDeactivateFailure_();
  // }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_DEACTIVATE_ERROR:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_DEACTIVATING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_DEACTIVATE_ERROR");
    this->postOnTransitionOnDeactivateError_();
  }
 
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_SHUTDOWN_SUCCESS:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN &&
    msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_SHUTDOWN_SUCCESS");
    this->postOnTransitionOnShutdownSuccess_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_SHUTDOWN_FAILURE:
  // else if (msg->start_state.id == &&msg->goal_state.id ==)
  // {
  //   RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_SHUTDOWN_FAILURE");
  //   this->postOnTransitionOnShutdownFailure_();
  // }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_SHUTDOWN_ERROR:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN &&
    msg->goal_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_SHUTDOWN_ERROR");
    this->postOnTransitionOnShutdownError_();
  }
 
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_ERROR_SUCCESS:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_ERROR_SUCCESS");
    this->postOnTransitionOnErrorSuccess_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_ERROR_FAILURE:
  else if (
    msg->start_state.id == lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING &&
    msg->goal_state.id == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_ERROR_FAILURE");
    this->postOnTransitionOnErrorFailure_();
  }
  // case lifecycle_msgs::msg::Transition::TRANSITION_ON_ERROR_ERROR:
  // else if (msg->start_state.id == &&msg->goal_state.id ==)
  // {
  //   RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_ON_ERROR_ERROR");
  //   this->postOnTransitionOnErrorError_();
  // }
 
  // default:
  else
  {
    RCLCPP_INFO(this->getNode()->get_logger(), "TRANSITION_UNKNOWN");
  }
  // }
 
}  // namespace cl_lifecyclenode

References smacc2::ISmaccClient::getNode(), lastTransitionEvent_, postOnTransitionActivate_, postOnTransitionActiveShutdown_, postOnTransitionCleanup_, postOnTransitionConfigure_, postOnTransitionDeactivate_, postOnTransitionDestroy_, postOnTransitionInactiveShutdown_, postOnTransitionOnActivateError_, postOnTransitionOnActivateFailure_, postOnTransitionOnActivateSuccess_, postOnTransitionOnCleanupError_, postOnTransitionOnCleanupSuccess_, postOnTransitionOnConfigureError_, postOnTransitionOnConfigureFailure_, postOnTransitionOnConfigureSuccess_, postOnTransitionOnDeactivateError_, postOnTransitionOnDeactivateSuccess_, postOnTransitionOnErrorFailure_, postOnTransitionOnErrorSuccess_, postOnTransitionOnShutdownError_, postOnTransitionOnShutdownSuccess_, and postOnTransitionUnconfiguredShutdown_.

Referenced by onInitialize().

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◆ shutdown()

void cl_lifecyclenode::ClLifecycleNode::shutdown ( )

Definition at line 70 of file lifecyclenode_client.cpp.

{
  changeState(lifecycle_msgs::msg::Transition::TRANSITION_UNCONFIGURED_SHUTDOWN);
}

References changeState().

Referenced by cl_lifecyclenode::CbShutdown::onEntry().

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Member Data Documentation

◆ client_change_state_

rclcpp::Client<lifecycle_msgs::srv::ChangeState>::SharedPtr cl_lifecyclenode::ClLifecycleNode::client_change_state_

private

Definition at line 439 of file lifecyclenode_client.hpp.

Referenced by changeState(), and onInitialize().

◆ client_get_state_

rclcpp::Client<lifecycle_msgs::srv::GetState>::SharedPtr cl_lifecyclenode::ClLifecycleNode::client_get_state_

private

Definition at line 438 of file lifecyclenode_client.hpp.

Referenced by onInitialize().

◆ lastTransitionEvent_

lifecycle_msgs::msg::TransitionEvent::SharedPtr cl_lifecyclenode::ClLifecycleNode::lastTransitionEvent_

private

Definition at line 449 of file lifecyclenode_client.hpp.

Referenced by onTransitionEvent().

◆ node_change_state_topic

const std::string cl_lifecyclenode::ClLifecycleNode::node_change_state_topic = "/change_state"

private

Definition at line 446 of file lifecyclenode_client.hpp.

Referenced by onInitialize().

◆ node_get_state_topic

const std::string cl_lifecyclenode::ClLifecycleNode::node_get_state_topic = "/get_state"

private

Definition at line 445 of file lifecyclenode_client.hpp.

Referenced by onInitialize().

◆ node_transition_event_topic

const std::string cl_lifecyclenode::ClLifecycleNode::node_transition_event_topic = "/transition_event"

private

Definition at line 447 of file lifecyclenode_client.hpp.

Referenced by onInitialize().

◆ nodeName_

std::string cl_lifecyclenode::ClLifecycleNode::nodeName_

private

Definition at line 444 of file lifecyclenode_client.hpp.

Referenced by onInitialize().

◆ onTransitionActivate_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionActivate_

Definition at line 231 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionActiveShutdown_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionActiveShutdown_

Definition at line 236 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionCleanup_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionCleanup_

Definition at line 230 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionConfigure_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionConfigure_

Definition at line 229 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionCreate_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionCreate_

Definition at line 228 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionDeactivate_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionDeactivate_

Definition at line 232 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionDestroy_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionDestroy_

Definition at line 238 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionEventSignal

boost::signals2::signal<void(const lifecycle_msgs::msg::TransitionEvent::SharedPtr)> cl_lifecyclenode::ClLifecycleNode::onTransitionEventSignal

Definition at line 226 of file lifecyclenode_client.hpp.

◆ onTransitionInactiveShutdown_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionInactiveShutdown_

Definition at line 235 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionOnActivateError_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnActivateError_

Definition at line 246 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbActivate::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnActivateFailure_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnActivateFailure_

Definition at line 245 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbActivate::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnActivateSuccess_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnActivateSuccess_

Definition at line 244 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbActivate::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnActiveShutdownError_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnActiveShutdownError_

Definition at line 262 of file lifecyclenode_client.hpp.

◆ onTransitionOnActiveShutdownFailure_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnActiveShutdownFailure_

Definition at line 261 of file lifecyclenode_client.hpp.

◆ onTransitionOnActiveShutdownSuccess_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnActiveShutdownSuccess_

Definition at line 260 of file lifecyclenode_client.hpp.

◆ onTransitionOnCleanupError_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnCleanupError_

Definition at line 254 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbCleanup::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnCleanupFailure_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnCleanupFailure_

Definition at line 253 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbCleanup::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnCleanupSuccess_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnCleanupSuccess_

Definition at line 252 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbCleanup::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnConfigureError_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnConfigureError_

Definition at line 242 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbConfigure::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnConfigureFailure_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnConfigureFailure_

Definition at line 241 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbConfigure::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnConfigureSuccess_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnConfigureSuccess_

Definition at line 240 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbConfigure::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnDeactivateError_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnDeactivateError_

Definition at line 250 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbDeactivate::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnDeactivateFailure_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnDeactivateFailure_

Definition at line 249 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbDeactivate::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnDeactivateSuccess_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnDeactivateSuccess_

Definition at line 248 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbDeactivate::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnErrorError_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnErrorError_

Definition at line 266 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionOnErrorFailure_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnErrorFailure_

Definition at line 265 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionOnErrorSuccess_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnErrorSuccess_

Definition at line 264 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ onTransitionOnShutdownError_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnShutdownError_

Definition at line 258 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbShutdown::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnShutdownFailure_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnShutdownFailure_

Definition at line 257 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbShutdown::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionOnShutdownSuccess_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionOnShutdownSuccess_

Definition at line 256 of file lifecyclenode_client.hpp.

Referenced by cl_lifecyclenode::CbShutdown::onOrthogonalAllocation(), and onOrthogonalAllocation().

◆ onTransitionUnconfiguredShutdown_

boost::signals2::signal<void()> cl_lifecyclenode::ClLifecycleNode::onTransitionUnconfiguredShutdown_

Definition at line 234 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ postOnTransitionActivate_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionActivate_

private

Definition at line 454 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionActiveShutdown_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionActiveShutdown_

private

Definition at line 458 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionCleanup_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionCleanup_

private

Definition at line 453 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionConfigure_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionConfigure_

private

Definition at line 452 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionCreate_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionCreate_

private

Definition at line 451 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ postOnTransitionDeactivate_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionDeactivate_

private

Definition at line 455 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionDestroy_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionDestroy_

private

Definition at line 459 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionInactiveShutdown_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionInactiveShutdown_

private

Definition at line 457 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnActivateError_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnActivateError_

private

Definition at line 467 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnActivateFailure_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnActivateFailure_

private

Definition at line 466 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnActivateSuccess_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnActivateSuccess_

private

Definition at line 465 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnCleanupError_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnCleanupError_

private

Definition at line 475 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnCleanupFailure_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnCleanupFailure_

private

Definition at line 474 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ postOnTransitionOnCleanupSuccess_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnCleanupSuccess_

private

Definition at line 473 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnConfigureError_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnConfigureError_

private

Definition at line 463 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnConfigureFailure_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnConfigureFailure_

private

Definition at line 462 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnConfigureSuccess_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnConfigureSuccess_

private

Definition at line 461 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnDeactivateError_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnDeactivateError_

private

Definition at line 471 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnDeactivateFailure_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnDeactivateFailure_

private

Definition at line 470 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ postOnTransitionOnDeactivateSuccess_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnDeactivateSuccess_

private

Definition at line 469 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnErrorError_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnErrorError_

private

Definition at line 483 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ postOnTransitionOnErrorFailure_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnErrorFailure_

private

Definition at line 482 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnErrorSuccess_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnErrorSuccess_

private

Definition at line 481 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnShutdownError_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnShutdownError_

private

Definition at line 479 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionOnShutdownFailure_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnShutdownFailure_

private

Definition at line 478 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation().

◆ postOnTransitionOnShutdownSuccess_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionOnShutdownSuccess_

private

Definition at line 477 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ postOnTransitionUnconfiguredShutdown_

std::function<void()> cl_lifecyclenode::ClLifecycleNode::postOnTransitionUnconfiguredShutdown_

private

Definition at line 456 of file lifecyclenode_client.hpp.

Referenced by onOrthogonalAllocation(), and onTransitionEvent().

◆ subscription_transition_event_

rclcpp::Subscription<lifecycle_msgs::msg::TransitionEvent>::SharedPtr cl_lifecyclenode::ClLifecycleNode::subscription_transition_event_

private

Definition at line 442 of file lifecyclenode_client.hpp.

Referenced by onInitialize().

The documentation for this class was generated from the following files:

smacc2_client_library/lifecyclenode_client/include/lifecyclenode_client/lifecyclenode_client.hpp
smacc2_client_library/lifecyclenode_client/src/lifecyclenode_client/lifecyclenode_client.cpp

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ClLifecycleNode()

◆ ~ClLifecycleNode()

Member Function Documentation

◆ activate()

◆ changeState()

◆ cleanup()

◆ configure()

◆ deactivate()

◆ destroy()

◆ onInitialize()

◆ onOrthogonalAllocation()

◆ onTransitionEvent()

◆ shutdown()

Member Data Documentation

◆ client_change_state_

◆ client_get_state_

◆ lastTransitionEvent_

◆ node_change_state_topic

◆ node_get_state_topic

◆ node_transition_event_topic

◆ nodeName_

◆ onTransitionActivate_

◆ onTransitionActiveShutdown_

◆ onTransitionCleanup_

◆ onTransitionConfigure_

◆ onTransitionCreate_

◆ onTransitionDeactivate_

◆ onTransitionDestroy_

◆ onTransitionEventSignal

◆ onTransitionInactiveShutdown_

◆ onTransitionOnActivateError_

◆ onTransitionOnActivateFailure_

◆ onTransitionOnActivateSuccess_

◆ onTransitionOnActiveShutdownError_

◆ onTransitionOnActiveShutdownFailure_

◆ onTransitionOnActiveShutdownSuccess_

◆ onTransitionOnCleanupError_

◆ onTransitionOnCleanupFailure_

◆ onTransitionOnCleanupSuccess_

◆ onTransitionOnConfigureError_

◆ onTransitionOnConfigureFailure_

◆ onTransitionOnConfigureSuccess_

◆ onTransitionOnDeactivateError_

◆ onTransitionOnDeactivateFailure_

◆ onTransitionOnDeactivateSuccess_

◆ onTransitionOnErrorError_

◆ onTransitionOnErrorFailure_

◆ onTransitionOnErrorSuccess_

◆ onTransitionOnShutdownError_

◆ onTransitionOnShutdownFailure_

◆ onTransitionOnShutdownSuccess_

◆ onTransitionUnconfiguredShutdown_

◆ postOnTransitionActivate_

◆ postOnTransitionActiveShutdown_

◆ postOnTransitionCleanup_

◆ postOnTransitionConfigure_

◆ postOnTransitionCreate_

◆ postOnTransitionDeactivate_

◆ postOnTransitionDestroy_

◆ postOnTransitionInactiveShutdown_

◆ postOnTransitionOnActivateError_

◆ postOnTransitionOnActivateFailure_

◆ postOnTransitionOnActivateSuccess_

◆ postOnTransitionOnCleanupError_

◆ postOnTransitionOnCleanupFailure_

◆ postOnTransitionOnCleanupSuccess_

◆ postOnTransitionOnConfigureError_

◆ postOnTransitionOnConfigureFailure_

◆ postOnTransitionOnConfigureSuccess_

◆ postOnTransitionOnDeactivateError_

◆ postOnTransitionOnDeactivateFailure_

◆ postOnTransitionOnDeactivateSuccess_

◆ postOnTransitionOnErrorError_

◆ postOnTransitionOnErrorFailure_